Methods and systems for position and orientation sensing in non-line-of-sight environments using combined decoupled quasistatic magnetic and electric fields

ABSTRACT

Orientation and position sensing methods and devices are disclosed. The described methods and devices are based on implementing magneto-electric-quasi-static fields for position and orientation sensing in lossy-dielectric, conducting, or metallic non-line-of-sight environments, where obstructions or occlusions or nearby objects exists that are lossy in nature and that typically perturb radio or electromagnetic wave signaling. Detailed experimental results highlighting the performance of the disclosed methods are also presented.

CROSS REFERENCE TO RELATED APPLICATIONS

The present application claims priority to U.S. Prov. App. No.62/967,118 filed on Jan. 29, 2020 and U.S. Prov. App. No. 62/931,141filed on Nov. 5, 2019, both of which are incorporated herein byreference in their entirety. The present application may be related toU.S. application Ser. No. 16/987,205 filed on Aug. 8, 2020 (attorneydocket P2507-US), which is incorporated herein by reference in itsentirety.

STATEMENT OF GOVERNMENT GRANT

This invention was made with government support under Grant No.80NM0018D004 awarded by NASA (JPL). The government has certain rights inthe invention.

FIELD

The present disclosure is related to orientation and position sensing,and more particularly to methods and devices implementing decoupledmagnetic and electric quasi-static fields which are syntheticallycombined, referred to for simplicity as Magneto-Electric QuasistaticSystems or abbreviated as MEQS, for position and orientation sensing inconductive, metallic, or more generally, lossy-dielectric,non-line-of-sight (NLoS) environments.

BACKGROUND

Throughout this document the term “magneto-electric-quasi-static fields”is referred to a combination of separate electric-quasi-static fieldsand magneto-quasi-static fields. These fields are decoupledelectromagnetically from each other and do not directly interact witheach other, but are generated and combined synthetically to deriveaccurate error free position and orientation sensing in challengingnon-line-of-sight environments (NLoS).

Magneto-quasi-static (MQS) systems have been shown to be very effectivefor position and orientation sensing in non-line-of-sight (NLoS)environments, however they can exhibit errors of considerable naturewhen the environments consist of large metals or conductors. It is knownthat in such environments metals, conductors, or large-scalelossy-dielectrics can distort or attenuate the tracking signalsresulting in unacceptable errors in tracking and/or orientation sensing.

SUMMARY

Natural materials react to electric and magnetic fields. Whenconsidering quasi-static electric phenomena only, dielectric loss (dueto electric conductivity) can be thought as characterization of lossynature of a material, and materials with high conductivity, σ (inrelative sense to dielectric constant multiplied by the radial frequencyof the electromagnetic wave, i.e., σ>>ωϵ) is considered lossy. Inquasi-static fields where both electric and magnetic modes are ofinterests, electric and magnetic behavior should be taken into accountin determining scattered field responses. For position and orientationdetection techniques using combined magneto-electric-quasi-static (MEQS)fields, the primary interest is understanding behavior of bulk electricconductors near MEQS fields and how they impact these fields, since bulkelectric conductors are most and abundantly present in nature. Bulkelectric conductors for lossy nature of quasi-static fields are definedas ones that (1) have electrical conductivity greater than dielectricconstant times the electromagnetic (high electric loss tangent), (2)electric loss tangents that dominate over magnetic loss tangents, whereloss tangents for both electric or magnetic types are defined as thearctangent of the ratio of imaginary component of permittivity orpermeability, respectively, over its real part.

In view of the above, throughout the present disclosure, the term “lossyelement” will be defined to encompass a larger category than justconductive and/or metallic elements, thus also inclusive of lossydielectric elements, and generally as ones that (1) have electricalconductivity greater than dielectric constant times the electromagnetic,(2) electric loss tangents that dominate over magnetic loss tangents.

The disclosed methods, systems and devices address and provide practicalsolutions to position and orientation sensing in non-line-of-sightenvironments that may include obstacles, occlusions, or nearbyscatterers that are described as lossy elements. The combined approachis based on implementing a combined magneto-electric-quasi-static (MEQS)fields to reduce sources of the errors mentioned in the above. ExemplaryMEQS architectures and isolation systems are presented to demonstratethe performance of the disclosed methods.

Further aspects of the disclosure are provided in the description,drawings and claims of the present application.

According to a first aspect of the present disclosure, anon-line-of-sight position sensing method in presence of a lossy elementis disclosed, comprising: providing a transmitting device configured totransmit combined magneto-electric-quasi-static fields along one or moretransmitting axes; providing a receiving device configured to receivemagneto-electric-quasi-static fields along one or more receiving axes;placing the lossy element in between the transmitting device and thereceiving device; transmitting through the lossy element, by thetransmitting device, the magneto-electric-quasi-static fields in one ormore frequency bands; detecting, by the receiving device, themagneto-electric-quasi-static fields, and based on the detectedmagneto-electric-quasi-static fields, calculating anorientation-invariant range between the receiving device and thetransmitting device, wherein the magneto-electric-quasi-static fieldsinclude a combination of separate electric-quasi-static fields andmagneto-quasi-static fields.

According to a second aspect of a the present disclosure, anon-line-of-sight position sensing method in presence of a lossy elementis disclosed, comprising: providing a plurality of transmitting devicesconfigured to transmit magneto-electric-quasi-static fields along aplurality of transmitting axes; providing a plurality of receivingdevices configured to receive magneto-electric-quasi-static fields alonga plurality of receiving axes; placing the lossy element in between theplurality of transmitting devices and the plurality of receivingdevices; transmitting through the lossy element, by the plurality oftransmitting devices, the magneto-electric-quasi-static fields in one ormore frequency bands; detecting, by the plurality of receiving devices,the magneto-electric-quasi-static fields, and based on the detectedmagneto-electric-quasi-static fields, calculating orientation-invariantranges between the plurality of receiving devices and the plurality oftransmitting devices, wherein the magneto-electric-quasi-static includesa combination of separate electric-quasi-static fields andmagneto-quasi-static fields.

DESCRIPTION OF THE DRAWINGS

FIG. 1A shows an exemplary measurement arrangement according to anembodiment of the present disclosure.

FIG. 1B shows orientations and related nomenclatures used throughout thetext of the disclosure.

FIG. 2 shows an exemplary measurement arrangement according to anembodiment of the present disclosure.

FIGS. 3A-3C show exemplary line-of-sight measurement results for threeorthogonal axes according to an embodiment of the present disclosure.

FIGS. 4A-4C show exemplary non-line-of-sight measurement results forthree orthogonal axes according to an embodiment of the presentdisclosure.

FIG. 5A shows a table summarizing exemplary range errors according to anembodiment of the present disclosure.

FIGS. 5B-5D shows exemplary plots of the calculated root mean squareerrors vs. a tuning parameter values for circumferential, radial andvertical components according to an embodiment of the presentdisclosure.

FIG. 5E shows exemplary values for a tuning parameter according to anembodiment of the present disclosure.

FIGS. 6A-6D shows exemplary line-of-sight measurement results accordingto an embodiment of the present disclosure.

FIGS. 7A-7D shows exemplary non-line-of-sight measurement resultsaccording to an embodiment of the present disclosure.

FIGS. 8A-8D shows non-line-of-sight measurements results for separatemagneto-quasi-static and electric-quasi-static fields.

FIGS. 9A-9D shows line-of-sight measurements results for separatemagneto-quasi-static and electric-quasi-static fields.

DETAILED DESCRIPTION

Within the quasistatic regime, most dielectrics behave as conductingbodies due to the low frequency of operation, σ>>ψϵ, where σ is theconductivity, ω is the radial frequency, and ϵ is the dielectricpermittivity. In behaving as conductors, such dielectrics perturb fieldsby creating secondary fields that can be described by a series ofscattered moments, which are largely described by lower order dipolemoments of scattering. These dipole moments are typically represented asimage moments. The conductor size modulates the image dipole momentsoriginating at the conductor. These dipole moments are related to imagetheory in the classical or non-classical sense. In the low frequencylimit (ω→0) and for electrically small conductors (a<<λ, where a is thesize or radius of the conductor and λ is the wavelength), the shape ofthe conductors are not critical (e.g. sphere and cubes shaped conductorsdo not observe a strong difference in response).

Due to quasistatics and the low-frequency limit, the time-derivatives inFaraday's law and Ampere's law are weak and these equations aredecoupled. The time-varying magnetic field components are affected byLen's law, whereas the time-varying electric field components are not.Therefore, magnetic fields near the conductor see a negating moment,whereas electric fields near the conductor see an additive moment.According to the teachings of the present disclosure, dipole moments canbe used at the conductor as fictitious or mathematical sources or thetotal fields outside the conductor. As such, for conductors inquasistatics, the dipole moments may be obtained as:

{right arrow over (M)}=α _(m)(I·g _(H) {right arrow over(H)}),α_(m)=−2πa ³ =−c  equation (1A)

{right arrow over (P)}=α _(p)(I·g _(E) {right arrow over (E)}),α_(p)=2πa³ =c  equation (1B)

where {right arrow over (M)} and {right arrow over (P)} represent thevector magnetic and electric dipole moments respectively, a is the sizeof the conductor, I is the excitation matrix which has a diagonal form,and g_(H) is the link gain for the magnetic coupling and g_(E) is thelink gain for the electric coupling. The link gains, g_(H) and g_(E) maybe measured and accounted for. The description for scattered fields tobe described by vector dipole fictitious sources {right arrow over (M)}and {right arrow over (P)} located at the conductor is accurate in thelow frequency limit (ω→0) and for electrically small conductors (a<<λ).Within this limit, the scalar scattering coefficients α_(m) and α_(p)are due to magnetic and electric scattered fields, respectively, and forthe same conductor is: (1) dependent on the conductors size, (2) same inmagnitude with a differing sign (negative and positive quantities [−c,c], respectively), and (3) independent of the conductivity of thematerial. The uniqueness (form and sign difference) and similarities ofthe fictitious sources {right arrow over (M)} and {right arrow over (P)}that describe scattering of magnetic and electric quasi-static fieldsprovides an important property that can be used to remove artifacts ofscattering in electro-magnetic fields completely. The value of removingthe artifacts are in use for quasi-static non-line-of-sight (NLoS)position and orientation sensing, where distortions in nearby materialsneed to be removed to provide accurate readings.

MQS systems refer to use of quasi-static magnetic fields, where an MQSfield is generated and detected, and then inverted for position ororientation of the source or detector. EQS systems refer to the same butfor quasi-static electric fields instead. In MEQS, both MQS and EQSfields are generated and detected, however the MQS fields and EQS fieldsare decoupled and do not interact with each other. With respect toimplementation, systems can be developed to either simultaneouslygenerate or detect MQS and EQS fields at the same frequency and times,or if greater isolation is needed for practical systems, these can begenerated at different frequencies and times, where gain corrections tothe field couplings as noted by g_(H) and g_(E) would need to beaccounted for when different frequencies are used. For MEQS, where bothmagnetic and electric fields of the scattered fields are captured, theelectric component of the scattered fields are due to the image dipolemoment {right arrow over (P)}, whereas the magnetic component of thescattered fields are due to the image dipole moment {right arrow over(M)}. Since {right arrow over (M)} and {right arrow over (P)} areopposing to each other, but have the same dipole field form, the summedvoltage components due to the scattered MEQS fields may be obtained as:

V _(S) =V _(P) +V _(M) =C _(E) V _(E) +C _(H) V _(H)  equation (2)

where V_(S) is the total scattered voltage measured, V_(P) is thescattered voltage due to the electric dipole scattering, and V_(M) isthe scattered voltage due to the magnetic dipole scattering. V_(M) issimply described by Faraday's law and has the general form:

$V_{M} = {{C_{H}V_{H}} = {C_{H}\frac{{3\left( {\overset{\rightarrow}{M} \cdot \overset{\hat{}}{r}} \right)\left( {\overset{\rightarrow}{n} \cdot \overset{\hat{}}{r}} \right)} - {\overset{\rightarrow}{M} \cdot \overset{\rightarrow}{n}}}{r^{3}}}}$

where {right arrow over (M)}=α_(m)(I·g_(H){right arrow over (H)}),{right arrow over (H)} is the incident field from the source, andg_(H)=−jωμ/4π, and C_(H) is an unknown common system gain constant forthe MQS couplings. Here {right arrow over (M)} is the moment of thescattered field due to the conductor, and {right arrow over (n)} is themoment of the magnetic receiver. Due to similar dipole field behaviorrepresented by the duality principle in electromagnetism, V_(E) has thesimilar form, given by:

$V_{P} = {{C_{E}V_{E}} = {C_{E}\frac{{3\left( {\overset{\rightarrow}{P} \cdot \overset{\hat{}}{r}} \right)\left( {\overset{\rightarrow}{n} \cdot \overset{\hat{}}{r}} \right)} - {\overset{\rightarrow}{P} \cdot \overset{\rightarrow}{n}}}{r^{3}}}}$

where {right arrow over (P)}=α_(p)(I·g_(E){right arrow over (E)}) is theincident field from the source, and g_(E)=¼πϵ₀, and C_(E) is an unknowncommon system gain constant for the EQS couplings. Here {right arrowover (P)} is the moment of the scattered field due to the conductor, and{right arrow over (n)} is the moment of the electric receiver. ParameterC_(E/H) is considered here as a tuning parameter to account for howelectric couplings and magnetic couplings may provide differing measuredlink gain. For theoretical purposes, we assume C_(E)=C_(H)=1, so thatthe scattered voltage measured by a MEQS receiver is simply:V_(S)=V_(E)+V_(H), which gives under the context presented above:

$V_{S} = {{V_{E} + V_{H}} = {\frac{{3\left( {\overset{\rightarrow}{P} \cdot \overset{\hat{}}{r}} \right)\left( {\overset{\rightarrow}{n} \cdot \overset{\hat{}}{r}} \right)} - {\overset{\rightarrow}{P} \cdot \overset{\rightarrow}{n}}}{r^{3}} + \frac{{3\left( {\overset{\rightarrow}{M} \cdot \overset{\hat{}}{r}} \right)\left( {\overset{\rightarrow}{n} \cdot \overset{\hat{}}{r}} \right)} - {\overset{\rightarrow}{M} \cdot \overset{\rightarrow}{n}}}{r^{3}}}}$

Due to the distributive laws of dot-products, this can be simplyre-written as:

$V_{S} = \frac{{3\left( {\left( {{c\left( {{I \cdot g_{E}}\overset{\rightarrow}{E}} \right)} - {c\left( {{I \cdot g_{H}}\overset{\rightarrow}{H}} \right)}} \right) \cdot \overset{\hat{}}{r}} \right)\left( {\overset{\rightarrow}{n} \cdot \overset{\hat{}}{r}} \right)} - {\left( {{c\left( {{I \cdot g_{E}}\overset{\rightarrow}{E}} \right)} - {c\left( {{I \cdot g_{H}}\overset{\rightarrow}{H}} \right)}} \right) \cdot \overset{\rightarrow}{n}}}{r^{3}}$

where c is the constant denoted in Equation 1A and 1B. Further if weassume that the source that generates the EQS and MQS fields are dipolarin nature (electric dipole and magnetic dipole, respectively), then thefield {right arrow over (E)} and {right arrow over (H)} have the sameform, noted below for completeness:

$\overset{\rightarrow}{E} = {{\frac{{3\left( {\overset{\rightarrow}{P_{s}} \cdot \overset{\hat{}}{r}} \right)\left( {\overset{\rightarrow}{n} \cdot \overset{\hat{}}{r}} \right)} - {\overset{\rightarrow}{P_{s}} \cdot \overset{\rightarrow}{n}}}{r^{3}}\mspace{14mu}{and}\mspace{20mu}\overset{\rightarrow}{H}} = \frac{{3\left( {\overset{\rightarrow}{M_{s}} \cdot \overset{\hat{}}{r}} \right)\left( {\overset{\rightarrow}{n} \cdot \overset{\hat{}}{r}} \right)} - {\overset{\rightarrow}{M_{s}} \cdot \overset{\rightarrow}{n}}}{r^{3}}}$

where {right arrow over (P_(s))} and {right arrow over (M_(s))} denotethe source or generation (not scattered) dipoles for both electric andmagnetic sources, respectively. Given the identical forms, it is notedthat by proper selection of g_(E) and g_(H) gain constants for thesource field, such that g_(E){right arrow over (E)}=g_(H){right arrowover (H)} one will find that the scattered voltage response detected atthe MEQS receiver is a null-vector or zero. To enable thiszero-scattered field, the requirements are then stated as:

-   -   Source EQS and MQS create de-coupled quasi-static fields that do        not interact strongly and with vector electric and magnetic        fields that have the same amplitude. Achieve the same amplitude        by physical tuning means or simply measurement, then numerical        tuning the gain constants g_(E) and g_(H) as needed so that        g_(E){right arrow over (E)}=g_(H){right arrow over (H)}    -   Scattering of the fields are by objects that obey the low        frequency limit for electrically small conductors (a<<λ), which        is not very restrictive for long-wavelengths.

The total field received by the MEQS receiver is due to the directfields from the MEQS source and the scattered field due to interactionwith the object occluding or nearby the measurements, and is given by:

V _(T) =V _(D) +V _(S) =V _(D)

where V_(S)=0 as noted above for MEQS couplings configured to remove thescattered fields. The total field under MEQS co-located and co-aligneddipole sources and detectors is due to only the direct MEQS fieldcomponents, and is given simply by:

$V_{T} = {V_{D} = {g_{D}\frac{{3\left( {\overset{\rightarrow}{D_{s}} \cdot \overset{\hat{}}{r}} \right)\left( {\overset{\rightarrow}{n} \cdot \overset{\hat{}}{r}} \right)} - {\overset{\rightarrow}{D_{s}} \cdot \overset{\rightarrow}{n}}}{r^{3}}}}$

where g_(D) is the link gain of the total field, and {right arrow over(D_(s))}={right arrow over (P_(s))}+{right arrow over (M_(s))} is thedirect MEQS source dipole contributions, where again {right arrow over(P_(s))} and {right arrow over (M_(s))} denote the source or generation(not scattered) dipoles for both electric and magnetic sources,respectively.

The total voltage contribution for MEQS co-located and co-aligned dipolesources and detectors is due to only the direct MEQS field components.Dipole sources and detectors in the low-frequency limit (ω→0) are simplyelectrically-small antennas (ESA's) that are commonly known in theantenna theory, defined rigorously by s<<λ, where s is the physicalscale of the ESA and λ is the electromagnetic wavelength. Because theform of the total voltage is identical to the voltage coupling inlow-frequencies within the quasi-static regime and due to dipole-dipolefield couplings (ESA-ESA couplings), the techniques developed in U.S.application Ser. No. 16/987,205 filed on Aug. 8, 2020 (attorney docketP2507-US), incorporated herein by reference in its entirety, can beapplied to MEQS sensor technologies to solve for position andorientation.

In what follows, some exemplary measurement results highlighting theperformance of the disclosed methods and devices will be presented. Forthe sake of simplicity, experiments performed in one dimension isdescribed. This is done first in the case of a system including one-axistransmitter and receiver, followed by the case of a system with threeorthogonal axis transmitter and receiver.

1. One Dimension, One-Axis System

FIG. 1A shows an exemplary measurement arrangement (100A) in accordancewith an embodiment of the present disclosure. The measurementarrangement (100A) of FIG. 1A comprises a transmitter (101), a receiver(102) and a lossy element (103) (e.g. metallic) placed in betweentransmitter (101) and receiver (102). In accordance with the teachingsof the present disclosure, transmitter (101) and receiver (102) areone-axis transmitters and receivers respectively, although as describedlater in detail, embodiments with three orthogonal axes transmitters andreceivers may also be envisaged. The constituents of the transmitter(101) and receiver (102) will be described more in detail later. Inorder to perform various measurements, first, transmitter (101) andreceiver (102) were placed in an open environment without lossy element(103) being present (i.e. line-of-sight). By way of example, transmitter(101) and receiver (102) were placed at a height of 1.52 m above ground(104), and measurements were taken at separation distances of 4 to 20 m.Three different measurements were taken with the transmit/receive pairaligned in orthogonal axis to allow for a complete classification of theproblem space. For the sake of clarity, orthogonal axes together withnomenclature used throughout the text are shown in FIG. 1B. As alsoshown in FIG. 1B, the displacement of transmitter (101) or receiver(102) was performed along the radial axis. The line-of-sightmeasurements were followed by non-line-of-sight measurement where lossyelement (103) was introduced in between the transmitter (101) andreceiver (102). Details of both such measurements will be given later inthe present disclosure.

FIG. 2 shows an exemplary measurement system (200) according to furtherembodiments of the present disclosure, where more details of exemplarytransmitters and receivers that can be implemented as part of themeasurement arrangement (100A) of FIG. 1A are illustrated. Measurementsystem (200) comprises a transmitter (201) and a receiver (202).Transmitter (201) comprises magneto-quasi-static (MQS) transmitter (211)and electro-quasi-static (EQS) transmitter (211′). MQS transmitter (211)comprises a signal generator (220) used to drive loop coil (222) at, forexample, 312.4 kHz to generate a magnetic field (MQS). On the otherhand, (EQS) transmitter (211′) comprises a dual channel waveformgenerator (230). The two channels of waveform generator (230) may be setto, for example, a frequency of 400 kHz, and one channel may be invertedto allow for the generation of a differential signal. These signals maythen be amplified with a high-voltage amplifier (231, 232), providing,for example, a 20 x amplification in voltage. This enables a highvoltage signal allowing the desired ranges for the embodiment of thefigure. As also shown in FIG. 2, EQS transmitter (211′) furthercomprises transmit antenna (233) to transmit electrical signals.According to embodiments of the present disclosure, magneto-quasi-static(MQS) transmitter (211) and electric-quasi-static (EQS) transmitter(211′) may transmit magneto-quasi-static and/or electric-quasi-staticfields with frequencies in the ranges of tens or hundreds of kHz.

With continued reference to FIG. 2, receiver (202) comprises MQSreceiver (212) and EQS receiver (212′). MQS receiver (212) comprisesloop coil (240) to measure the magnetic field, and amplifier (241) thatmay be added in-line to increase the gain of the signal. Downstream ofamplifier (241), a passive low-pass filter (242) may be connectedin-line to clean the signal, low-pass filter (242) acting asanti-aliasing filter. The signal is then fed to pre-amplifier (243),which applies more gain and conditions the signal before being sampledby analog to digital converter (261). The resulting digital signal maybe saved onto a computer for later processing in a data processingsoftware such as MATLAB®.

With further reference to FIG. 2, EQS receiver (212′) comprises dipole(250) that may be used to detect the electric field. Dipole (250)comprises two independent arms capturing the field and feeding thesignal to the rest of EQS receiver (212′). The differential signal fromthe two arms of dipole (212′) may be converted to a single ended signalfor simplicity of measurements. As also shown in FIG. 2, EQS receiver(212′) further comprises front-end circuit (251), low-pass filter (252)and pre-amplifier (253). After the differential to single-endedconversion, the signal flow is identical to that of MQS receiver (212),as described previously. According to an embodiment of the presentdisclosure, EQS transmitter (211) and MQS transmitter (212) may beoriented in parallel directions, and also EQS receiver (212′) and MQSreceiver (212) may be oriented in parallel directions.

1.A Experimental Results, Line-of-Sight

With reference to FIG. 1A, and as part of the experiment, lossy element(103) was first removed, and magnetic and electric field values weretaken from the line of sight experiment and were corrected using thedisclosed MEQS concept.

Using the equations described previously, the field values are combinedto mitigate any effects due to the deviation of an ideal radiator infree space. Just as a lossy element placed in-between the transmitterand receiver will perturb both field values, the same is true for theground, which acts like a conductor at frequencies the experiment wasconducted.

FIGS. 3A-3C show line-of-sight measurement results for three orthogonalaxes (i.e. three different orientations). For all three axes, thefigures above show four curves, each curve representing the measuredpower (in dB) vs. the distance between transmitter (101) and receiver(102), while lossy element (103) is absent in the setup. As shown in thelegend of each of FIGS. 3A-3C, the four curves illustrate the measuredEQS field, the measured MQS field, the combined MEQS calculation, andthe theoretical curve for an ideal radiator in free-space. FIGS. 3A-3Crepresent the above-mentioned results in vertical, circumferential, andradial orientation respectively. For the sake of clarity in each ofFIGS. 3A-3C, the corresponding orientation is represented by a solidarrow at the right-hand side of the figure.

With continued reference to FIGS. 3A-3C, it can be noticed that thevertical coupling results (FIG. 3A) showed a near perfect match withtheory, as the mean error measured was 0.0074%. The circumferential andradial measurements (FIGS. 3B-3C respectively) showed mean inversionerrors of 1.61% and 3.16% respectively.

As mentioned previously, the disclosed MEQS concept aims to removeartifacts from the environment to mimic the free-space environment. Inwhat follows, several experimental results highlighting the achievedperformances after implementing of the teachings of the presentdisclosure are presented.

1.B Experimental Results, Non-Line-of-Sight

Similarly to the case of line-of-sight measurements as explained above,non-line-of-sight measurements were taken in the same configuration asshown in FIG. 1A, with this time, the lossy element (103) placed, forexample, 9 meters away from transmitter (101). MEQS field correctionswere calculated using the same process as stated before and based onequations 1-3.

FIG. 4A shows the MEQS fields collected and processed for eachcomponent. With reference to FIG. 1A, the curves shown in FIG. 4Arepresent the measured power at the receiver (102) of FIG. 1A vs. thedistance between transmitter (101) and receiver (102) of FIG. 1A. As itcan be noticed, the greatest errors were in the radial component, with amaximum deviation at positions closest to lossy element (103) of FIG.1A. FIG. 4B shows the percent error vs. the distance between transmitter(101) and receiver (102) of FIG. 1A. In accordance with embodiments ofthe present disclosure, the MEQS corrections may be applied to the threeorthogonal components and combined and inverted to find range. FIG. 4Cshows the inverted distance vs. the actual distance between transmitter(101) and receiver (102) of FIG. 1A. With reference to FIG. 4B, thegreatest error comes out to 7%, which is within the 10% errorrequirement for blockage of large metal containers. According to theteachings of the present disclosure, lossy element (103) of FIG. 1A canbe a metallic container with a depth of around 4m along an axis thatconnects transmitter (101) and receiver (102) of FIG. 1A.

The disclosed MEQS concept involves two constants. The two sources ofconstants are for the calibration of the system and the tuning parameterto weight the electric and magnetic fields. The calibration constantsare calculated to normalize the six magnetic and electric fieldsgenerated so that they can be compared to one another. These systemcalibrations may be done in lab and are not expected to change over longdurations of time. The tuning parameter C (equations 2-3) may be used toweight the magnetic and electric field values of the same orientationfor their use in MEQS. To study the sensitivity of the technique, thetuning parameters was swept between values of −0.5 to 0.5. Absoluterange errors were calculated for different values and are tabulated intable (500) of FIG. 5A. As the tuning parameter was swept for each axis,the MEQS equations were applied the obtained results were then comparedto those of an ideal dipole in free space. The root mean square errorwas calculated for each orthogonal axis. FIGS. 5B-5D shows plots of thecalculated root mean square errors vs. the swept C values forcircumferential, radial and vertical components respectively. Based onsuch curves, the preferred tuning parameter values in accordance withthe teachings of the present disclosure are selected. Such preferred Cvalues are tabulated in table 500E of FIG. 5E.

2. One Dimension, Three Orthogonal Axis System

The measurement arrangement for this case is similar to what wasdescribed with regards to measurement arrangement (100A) of FIG. 1A,except that for this case, transmitter (101) and receiver (102) arethree orthogonal axis transmitter and receiver respectively. As will bedescribed in detail, the measurement arrangement is similar to theone-axis system described previously, but a triaxial MEQS transmitterand receiver were used. According to the teachings of the presentdisclosure, the triaxial system may be used to solve for range that isindependent of orientation or direction angles, which is a desiredproperty in position and orientation sensing technologies.

Measurements were taken in the same fashion as described with regards tomeasurement arrangement (100A) of FIG. 1A, measuring the scene with bothline of sight, i.e. in the absence of lossy element (103), and line ofsight blockage, i.e. with lossy element (103) present, and all threeorthogonal axis values were measured. The mean errors for line of sightand line of sight blockage were measured to be 1.44% and 2.3%respectively.

In order to implement the MEQS 3-axis system, the exemplary one-axismeasurement system (200) of FIG. 2 may be modified to support threesimultaneous configurations. As such, three EQS transmitters similar toEQS transmitter (211′) and three MQS transmitters similar to MQStransmitter (211) may be used. Moreover, in order to implement threeorthogonal transmission axes, three EQS transmit antennas similar totransmit antenna (233) may be used. Such antennas may be orientedperpendicular to each other. Similarly, three MQS loops similar to loop(222) may be used and the three loops may be oriented perpendicular toeach other. The EQS transmit antennas may be separated by, for example1m, to minimize interference. This distance offset may be accounted forin post-processing to ensure a proper calculation of the MEQS solution.The EQS antennas may be driven at three different frequencies (e.g. 394kHz, 395 kHz and 407 kHz. The MQS transmit loops may also be driven atthree different frequencies (e.g. 331 kHz, 361 kHz and 369 kHz) toensure proper identification of the three axes at the receiver end.Spacing may not be used for the MQS loops because no significantinterference was observed during a prior indoor experiment.

Continuing with the modifications made to measurement system (200) ofFIG. 2 to realize a triaxial system, on the receive end, both theabove-mentioned EQS antennas and MQS loops may be duplicated andimplemented to provide the same functionalities as dipole (250) and loop(240) respectively while providing a triaxial receive end. ADC (261) maybe configured to simultaneously sample 6 channels, thereby enablingappropriate measurements for all 6 field components. Measurements weredone simultaneously on all channels at, for example, 1250 kHz samplingrate. Using a Matlab® script, the peaks of all three frequencies forboth EQS and MQS that was measured by the receivers was stored forpost-processing.

2.A Experimental Results, Line-of-Sight

Referring back to FIG. 1A, a line-of-sight experiment was firstperformed, where the triaxial system as described above was implementedwithout placing lossy element (103) as a blockage. The triaxial systemwas positioned in discrete steps, and field values were measured at suchsteps. FIG. 6A represents MEQS solutions illustrating the normalizedmeasured filed at the receiver in dB vs. the distance between thetransmitter and the receiver. The five calculated values are thevertical, circumferential, radial, combined MEQS solutions, and theactual values. As can be seen by the error figures, while the individualcomponents show a larger error, the combined field results are in linewith a desired requirement value which is around 5%. The maximum errorin percentage is 3.87%, while the mean error was 1.44%, which is belowthe desirable 5% requirement. Similar to what was mentioned before forthe case one-axis system, the range can be estimated by inverting theMEQS solutions. FIG. 6B shows the calculated distance vs. the actualdistance between the transmitter and the receiver for differentorientations. FIG. 6C shows the percentage error of the MEQS solutionsvs. the distance between the transmitter and the receiver. FIG. 6D showsthe inversion error vs. the distance between the transmitter and thereceiver.

2.B Experimental Results, Non-Line-of-Sight

With reference to FIG. 1A, similarly to what described in section 1.Bfor the one-axis system, non-line-of-sight experiment was also performedfor the triaxial system wherein lossy element (103) was this time placedbetween 10 and 13 meters. The maximum error observed was 6%, withcorrelates to 1.25 m as this was measured at 25 meters away. The meanerror was measured as 0.41 m or a total of 2.3%. This is will within adesirable requirement of 10%.

FIG. 7A shows the normalized estimated filed in dB vs. distance, andFIG. 7B shows the inverted distance vs. the actual distance between thetransmitter and the receiver for various orientations. FIGS. 7C-7D showthe absolute error and the percentage error of the estimated inverteddistance vs. the actual distance respectively.

As mentioned previously, by virtue of considering the effects of bothmagnetic and electric fields the disclosed methods provide improvedresults in terms of estimation errors. Greater errors can be observedwhen a range inversion is applied to both the magnetic and electricfield separately. Based on how the image currents are generated, both inthe ground and on a given target in the scene, the magnetic and electricfield react in opposing ways. Where the circumferential and radialcomponents of the magnetic field are additive, and see a slower decaythan the theory curve, these field orientations are destructive in theelectric field, thus causing the fields to degrade faster than theory.This effect is also seen in the vertical components, but is additive forthe electric field, and destructive for the magnetic. Without applyingthe MEQS technique to the given fields, accounting for these artifactsbecomes difficult and extreme range errors found. As previouslydescribed, by combining both the magnetic and electric field, theeffects of the environment are mitigated due to the field.

FIGS. 8A-8B show the estimated field strength vs. the distance (inlogarithmic scale) between the transmitter and the receiver for theelectric and magnetic fields respectively, and in the case of anon-line-of-sight experiment. FIGS. 8C-8D show the calculated distancevs. the actual distance (in logarithmic scale) between the transmitterand the receiver taking into account only the electric and only magneticfields respectively, and in the case of a non-line-of-sight experiment.

FIGS. 9A-9B show the estimated field strength vs. the distance (inlogarithmic scale) between the transmitter and the receiver for theelectric and magnetic fields respectively, and in the case of aline-of-sight experiment. FIGS. 9C-9D show the calculated distance vs.the actual distance (in logarithmic scale) between the transmitter andthe receiver taking into account only the electric and only magneticfields respectively, and in the case of a non-line-of-sight experiment.

The performance of the disclosed methods described in the case of theone-dimensional ranging problem for simplicity. Using, for example, theteachings of the U.S. application Ser. No. 16/987,205 filed on Aug. 8,2020 (attorney docket no. P2507-US), which is incorporated herein byreference in its entirety, it is understood that the disclosed methods,concepts and devices may be used to solve for

-   -   Multi-dimensional, including 2-dimensional and 3-dimensional        positions in addition to one-dimensional position as previously        described in detail, and    -   Orientation and directions angles.

It is also understood that using the teachings of the above-mentionedincorporated application, embodiments in accordance with the teachingsof the present disclosure may also be envisaged wherein two or moretransmitting devices and/or two or more receiving devices areimplemented. According to further embodiments of the present disclosure,the receiving devices implemented in any of the mentioned cases, i.e.one or two or three-dimensional systems, may be mobile receivingdevices.

In accordance to yet other embodiments of the present disclosure, theEQS and/or MQS transmitters may transmit along one or more transmit axesand the one or more transmit axes may include three orthogonal axes.Moreover, the EQS and/or MQS receivers may receive along one or morereceiving axes and the one or more receiving axes may include threeorthogonal axes.

Due to ability to remove sources of errors in quasi-static position andorientation sensing techniques, the described MEQS technique provideshigher accuracy in non-line-of-sight environments where metals andconductors are present. By combining MQS and EQS and using the disclosedmethod to combine the two fields, the MEQS technique enables thereduction of these sources of error.

The methods and systems described in the present disclosure may beimplemented in hardware, software, firmware or any combination thereof.Features described as blocks, modules or components may be implementedtogether (e.g., in a logic device such as an integrated logic device) orseparately (e.g., as separate connected logic devices). The softwareportion of the methods of the present disclosure may comprise acomputer-readable medium which comprises instructions that, whenexecuted, perform, at least in part, the described methods. The computerreadable medium may comprise, for example, a random access memory (RAM)and/or a read-only memory (ROM). The instructions may be executed by aprocessor, e.g., a digital signal processor (DSP), an applicationspecific integrated circuit (ASIC), a field programmable logic array(FPGA), a graphic processing unit (GPU) or a general purpose GPU.

A number of embodiments of the disclosure have been described.Nevertheless, it will be understood that various modifications may bemade without departing from the spirit and scope of the presentdisclosure. Accordingly, other embodiments are within the scope of thefollowing claims.

The examples set forth above are provided to those of ordinary skill inthe art as a complete disclosure and description of how to make and usethe embodiments of the disclosure, and are not intended to limit thescope of what the inventor/inventors regard as their disclosure.

Modifications of the above-described modes for carrying out the methodsand systems herein disclosed that are obvious to persons of skill in theart are intended to be within the scope of the following claims. Allpatents and publications mentioned in the specification are indicativeof the levels of skill of those skilled in the art to which thedisclosure pertains. All references cited in this disclosure areincorporated by reference to the same extent as if each reference hadbeen incorporated by reference in its entirety individually.

It is to be understood that the disclosure is not limited to particularmethods or systems, which can, of course, vary. It is also to beunderstood that the terminology used herein is for the purpose ofdescribing particular embodiments only, and is not intended to belimiting. As used in this specification and the appended claims, thesingular forms “a,” “an,” and “the” include plural referents unless thecontent clearly dictates otherwise. The term “plurality” includes two ormore referents unless the content clearly dictates otherwise. Unlessdefined otherwise, all technical and scientific terms used herein havethe same meaning as commonly understood by one of ordinary skill in theart to which the disclosure pertains.

1. A non-line-of-sight position sensing method in presence of a lossyelement the method comprising: providing a transmitting deviceconfigured to transmit combined magneto-electric-quasi-static fieldsalong one or more transmitting axes; providing a receiving deviceconfigured to receive magneto-electric-quasi-static fields along one ormore receiving axes; placing the lossy element in between thetransmitting device and the receiving device; transmitting through thelossy element, by the transmitting device, themagneto-electric-quasi-static fields in one or more frequency bands;detecting, by the receiving device, the magneto-electric-quasi-staticfields, and based on the detected magneto-electric-quasi-static fields,calculating an orientation-invariant range between the receiving deviceand the transmitting device, wherein the magneto-electric-quasi-staticfields include a combination of separate electric-quasi-static fieldsand magneto-quasi-static fields.
 2. The non-line-of-sight positionsensing method of claim 1, wherein the one or more transmitting axescomprises an electric-quasi-static transmitting axis and amagneto-quasi-static transmitting axis parallel to theelectric-quasi-static transmitting axis.
 3. The non-line-of-sightposition sensing method of claim 2, wherein the one or more receivingaxes comprises an electric-quasi-static receiving axis and amagneto-quasi-static receiving axis parallel to theelectric-quasi-static receiving axis.
 4. The non-line-of-sight positionsensing method of claim 1, wherein the one or more transmitting axes arethree orthogonal transmitting axes, and the one or more receiver axesare three orthogonal receiving axes.
 5. The non-line-of-sight positionsensing method of claim 1, wherein the calculating theorientation-invariant ranges comprises calculating a weighted sum ofdetected electric-quasi-static fields and magneto-quasi-static fields.6. The non-line-of-sight position sensing method of claim 5, wherein thecalculating the weighted sum involves a tuning parameter to weightmagnitudes of the electric field with respect to magnitudes of themagnetic field.
 7. The non-line-of-sight position sensing method ofclaim 5, further comprising inverting the weighted sum to calculate theorientation-invariant ranges.
 8. The non-line-of-sight position sensingmethod of claim 7, further comprising calculating a position of thereceiving device based on the calculated orientation-invariant ranges.9. The non-line-of-sight position sensing method of claim 1, wherein thecalculating factors in perturbations caused by ground of themagneto-electric-quasi-static fields.
 10. A one-dimension, one-axisposition sensing system comprising a transmitting device and a receivingdevice, the transmitting device and the receiving device placed atopposite sides of a lossy element, the system configured to operateaccording to method of claim
 3. 11. The one-dimension, one-axis positionsensing system of claim 10, w herein dimensions of the lossy element aresubstantially smaller than a transmission wavelength.
 12. Theone-dimension, one-axis position sensing system of claim 10, wherein:the transmitting device comprises an electric-quasi-static transmitter,and a magneto-quasi-static transmitter, the electric-quasi-statictransmitter configured to transmit electric-quasi-static fields along anelectric-quasi-static transmitting axis, and the magneto-quasi-statictransmitter configured to transmit magneto-quasi-static fields along anmagneto-quasi-static transmitting axis; the receiving device comprisesan electric-quasi-static receiver, and a magneto-quasi-static receiver,the electric-quasi-static receiver configured to receiveelectric-quasi-static fields along an electric-quasi-static receivingaxis, and the magneto-quasi-static transmitter configured to transmitmagneto-quasi-static fields along a magneto-quasi-static receiving axis.13. The one-dimension, one-axis position sensing system of claim 12,wherein the electric-quasi-static transmitter and themagneto-quasi-static transmitter are oriented in parallel, and whereinthe electric-quasi-static receiver and the magneto-quasi-static receiverare oriented in parallel.
 14. The one-dimension, one-axis positionsensing system of claim 12, further comprising a processing unitincluding an analog to digital converter to convert received fields todigital signals to be processed.
 15. A one-dimension, three orthogonalaxis position sensing system comprising a transmitting device and areceiving device, the transmitting device and the receiving deviceplaced at opposite sides of a lossy element, the system configured tooperate according to method of claim
 4. 16. The one-dimension threeorthogonal axis position sensing system of claim 15, wherein thetransmitting device comprises: a first electric-quasi-statictransmitter, and a first magneto-quasi-static transmitter, the firstelectric-quasi-static transmitter configured to transmitelectric-quasi-static fields along a first electric-quasi-statictransmitting axis, and the first magneto-quasi-static transmitterconfigured to transmit magneto-quasi-static fields along a firstmagneto-quasi-static transmitting axis; a second electric-quasi-statictransmitter, and a second magneto-quasi-static transmitter, the secondelectric-quasi-static transmitter configured to transmitelectric-quasi-static fields along a second electric-quasi-statictransmitting axis, and the second magneto-quasi-static transmitterconfigured to transmit magneto-quasi-static fields along a secondmagneto-quasi-static transmitting axis; and a thirdelectric-quasi-static transmitter, and a third magneto-quasi-statictransmitter, the third electric-quasi-static transmitter configured totransmit electric-quasi-static fields along a thirdelectric-quasi-static transmitting axis, and the thirdmagneto-quasi-static transmitter configured to transmitmagneto-quasi-static fields along a third magneto-quasi-statictransmitting axis, wherein the first, the second and the thirdelectric-quasi-static transmitting axes are orthogonal to one another,and the first, the second and the third magneto-quasi-statictransmitting axes are orthogonal to one another.
 17. The one-dimensionthree orthogonal axis position sensing system of claim 16, wherein: thefirst electric-quasi-static transmitter comprises a first antennatransmitting along the first electric-quasi-static transmitting axis;the second electric-quasi-static transmitter comprises a second antennatransmitting along the second electric-quasi-static transmitting axis,and the third electric-quasi-static transmitter comprises a thirdantenna transmitting along the third electric-quasi-static transmittingaxis.
 18. The one-dimension three orthogonal axis position sensingsystem of claim 17, wherein the first, the second, and the thirdantennas are disposed at least one meter apart from one another.
 19. Theone-dimension three orthogonal axis position sensing system of claim 17,wherein: the first magneto-quasi-static transmitter comprises a firstloop transmitting along the first magneto-quasi-static transmittingaxis; the second magneto-quasi-static transmitter comprises a looptransmitting along the second magneto-quasi-static transmitting axis,and the third magneto-quasi-static transmitter comprises a loop antennatransmitting along the third magneto-quasi-static transmitting axis. 20.The one-dimension, three orthogonal axis position sensing system ofclaim 15, wherein the receiving device comprises: a firstelectric-quasi-static receiver, and a first magneto-quasi-staticreceiver, the first electric-quasi-static receiver configured to receiveelectric-quasi-static fields along a first electric-quasi-staticreceiving axis, and the first magneto-quasi-static receiver configuredto receive magneto-quasi-static fields along a firstmagneto-quasi-static receiving axis; a second electric-quasi-staticreceiver, and a second magneto-quasi-static receiver, the secondelectric-quasi-static receiver configured to receiveelectric-quasi-static fields along a second electric-quasi-staticreceiving axis, and the second magneto-quasi-static receiver configuredto receive magneto-quasi-static fields along a secondmagneto-quasi-static receiving axis; and a third electric-quasi-staticreceiver, and a third magneto-quasi-static receiver, the thirdelectric-quasi-static receiver configured to receiveelectric-quasi-static fields along a third electric-quasi-staticreceiving axis, and the third magneto-quasi-static receiver configuredto receive magneto-quasi-static fields along a thirdmagneto-quasi-static receiving axis, wherein the first, the second andthe third electric-quasi-static receiving axes are orthogonal to oneanother, and the first, the second and the third magneto-quasi-staticreceiving axes are orthogonal to one another.
 21. The one-dimension,three orthogonal axis position sensing system of claim 15 wherein thetransmitting and the receiving devices are disposed at same heightsabove ground.
 22. The one-dimension, three orthogonal axis positionsensing system of claim 15 wherein the transmitting and the receivingdevices are disposed at different heights above ground.
 23. Theone-dimension, three orthogonal axis position sensing system of claim 15wherein the receiving device is a mobile receiving device.
 24. Thenon-line-of-sight position sensing method of claim 1, wherein the one ormore frequency bands include frequencies in the range of tens orhundreds of kHz.
 25. A non-line-of-sight position sensing method inpresence of a lossy element, the method comprising: providing aplurality of transmitting devices configured to transmitmagneto-electric-quasi-static fields along a plurality of transmittingaxes; providing a plurality of receiving devices configured to receivemagneto-electric-quasi-static fields along a plurality of receivingaxes; placing the lossy element in between the plurality of transmittingdevices and the plurality of receiving devices; transmitting through thelossy element, by the plurality of transmitting devices, themagneto-electric-quasi-static fields in one or more frequency bands;detecting, by the plurality of receiving devices, themagneto-electric-quasi-static fields, and based on the detectedmagneto-electric-quasi-static fields, calculating orientation-invariantranges between the plurality of receiving devices and the plurality oftransmitting devices, wherein the magneto-electric-quasi-static includesa combination of separate electric-quasi-static fields andmagneto-quasi-static fields.
 26. The non-line-of-sight position sensingmethod position sensing method of claim 25, wherein plurality oftransmitting axes are three orthogonal transmitting axes, and theplurality of receiver axes are three orthogonal receiving axes.
 27. Thenon-line-of-sight position sensing method sensing method of claim 25,wherein the calculating the orientation-invariant ranges comprisescalculating a weighted sum of the detected electric-magneto-quasi-staticfields.
 28. The non-line-of-sight position sensing method of claim 27,further comprising inverting the weighted sum to calculate theorientation-invariant ranges.
 29. The non-line-of-sight position sensingmethod of claim 28, further comprising calculating positions of theplurality of receiving devices based on the calculatedorientation-invariant ranges.